JP2018190094A - Vehicle control system, vehicle control device, vehicle control method, computer program, and recording medium having computer program recorded thereon - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle control system, a vehicle control device, a vehicle control method, a computer program, and a recording medium having the computer program recorded thereon.SOLUTION: A control method includes a map data storage unit for storing map data including an information set including ON information coordinates and OFF information coordinates, the information set having order information along a travelling direction of a road positioned by the ON information coordinates and the OFF information coordinates. The control method comprises the steps of controlling rear alarm means provided in a vehicle, and collating a present position of the vehicle with the map data. Based on a collation result thereof, the rear alarm means is turned on when determining that the vehicle passes through the ON information coordinates; the rear alarm means is turned off when determining that the vehicle passes through the OFF information coordinates included in the information set to which the ON information coordinates belong; and the rear alarm means is maintained in an ON state during a period from when the rear alarm means is turned on until the rear alarm means is turned off.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle control system, a vehicle control device, a vehicle control method, a computer program, and a recording medium recording the computer program.

In recent years, with the development of car navigation technology and the rapid development of automatic vehicle driving technology, it is expected that vehicles with various driving controls will travel on the same road regardless of whether they are automatic driving or manned driving. In view of such a situation, driving control capable of considering and dealing with vehicles with different driving control when driving on a road is expected. In particular, control related to the brake is more important for safe driving.
On the other hand, regarding the lighting control of the brake lamp, Patent Document 1 discloses that the host vehicle starts from the point in time when the brake lamp provided in the host vehicle stops at the T-junction stop line, and the vehicle makes a right turn or a left turn and travels straight ahead. A technology related to an alarm device for preventing rear-end collision that notifies the following vehicle that there is a possibility that the host vehicle may stop by turning on or blinking until the vehicle returns to the state is disclosed.
See also Patent Documents 2 to 4 disclosing conventional techniques related to the present invention.

JP-A-6-36199 JP 2008-210058 A JP-A-6-36196 JP 2007-109001 A

The inventors of the present invention have made extensive studies on the brake lamp in order to achieve vehicle control that takes into account other vehicles. As a result, I noticed the following. In general, a two-stage stop is performed at an intersection with a temporary stop with poor visibility, but for a subsequent vehicle that was not supposed to stop at the second stage, the brake light that was lit at the first stop was turned off when the brake was released If this happens, it will continue and the distance between vehicles may become extremely narrow.
In view of such a situation, the present inventors control the vehicle so that the brake lamp is continuously turned on at a place where the brake operation may be performed as in the above-described two-stage stop, so that the following vehicle I came up with the idea that I could improve the warning to

The present disclosure has been made to achieve the above object, and a vehicle control system according to at least some aspects of the present disclosure is defined as follows.
The vehicle control system defined in the first aspect is:
Stores map data including an information set including coordinates of on information and coordinates of off information, the information set having order information along the traveling direction of the road on which the coordinates of on information and coordinates of off information are located A map data storage unit;
A vehicle control device that can be mounted on a vehicle including a rear warning unit and is communicably connected to the rear warning unit via an in-vehicle local area network of the vehicle, the warning unit control for controlling the rear warning unit A vehicle control device comprising: a collation unit that collates the current position of the vehicle with the map data;
A vehicle control system comprising:
A first determination unit configured to determine that the vehicle has passed the coordinates of the on-information along the order information based on the result of the verification;
Based on the result of the collation, the vehicle has passed the coordinates of the off information included in the information set to which the coordinates of the on information to which the first determination unit has determined to pass along the order information. A second determination unit for determining
The warning means control section turns on the rear warning means when the first determination section determines the passage of the coordinates of the on information of the vehicle, and the second determination section sets the off information of the vehicle. When the passage of coordinates is determined, the rear warning means is turned off, and the rear warning means is maintained in the first on state after being turned on until being turned off.

According to the vehicle control system of the first aspect defined as described above, the information set includes coordinates of on-information and coordinates of off-information, and the road where the coordinates of the on-information and coordinates of off-information are located. Provided with map data including an information set having order information along the traveling direction, when it is determined that the current position of the vehicle has passed the coordinates of the on information according to the order information, the rear warning means is turned on, and the vehicle is subsequently turned off When it is determined that the information coordinates have been passed, control is performed to turn off the rear warning means. That is, the rear warning means maintains the first on state until it is turned off after being turned on. According to such vehicle control, it is possible to maintain the rear warning means in an on state at a place where a brake operation may be performed in advance, so that a sufficient warning can be given to the following vehicle. Become. Further, since the control of the rear warning means is executed based on the information set included in the map data, the processing load on the CPU can be suppressed with a relatively low load.
The rear warning means may be a brake lamp (fourth aspect).

The vehicle control system defined in the second aspect has a further object to control the rear warning means only when the rear warning means needs to be controlled, that is, only when the following vehicle is detected. It is defined as follows. That is,
In the vehicle control system defined in the first aspect, the vehicle includes a subsequent vehicle detection unit that detects a subsequent vehicle,
The warning means control unit turns on the rear warning means when the subsequent vehicle detection unit detects the subsequent vehicle.
According to the vehicle control system defined in the second aspect defined as described above, the control of the rear warning means is executed on the condition that the subsequent vehicle is detected. When the following vehicle does not exist, the rear warning means is not controlled, so that smooth driving of the host vehicle is prioritized and is convenient for the driver.

The vehicle control system defined in the third aspect is further defined as follows in order to enhance warnings to the following vehicle in cooperation with the braking operation of the driver of the vehicle. That is,
In the vehicle control system defined in the first or second aspect, based on the result of the collation, the vehicle is located within a predetermined distance behind the direction of travel of the road from the coordinates of the ON information. A third determination unit for determining,
The warning means control unit determines that the third determination unit determines that the vehicle is located within the predetermined distance behind the coordinates of the on-information, and the vehicle driver performs a braking operation of the vehicle. When this is done, the rear warning means is turned on, and the rear warning means is maintained in the second on state until the first on state is started.
According to the vehicle control system defined in the third aspect defined as described above, when the driver of the vehicle performs a braking operation before the coordinates of the on-information, a rear warning is generated based on the braking operation. Control is performed to turn on the means and maintain the ON state up to the coordinates of the ON information. According to such a vehicle control system, the rear warning means turned on by the braking operation executed before the coordinates of the on-information is the coordinates of the off-information afterwards even when the braking operation is released. Since the ON state can be continuously maintained until the vehicle passes, the warning to the following vehicle can be further enhanced.

The vehicle control device defined in the fifth aspect continuously turns on the brake lamp when it is determined that a warning to the following vehicle is necessary by the driver's brake operation according to the real-time driving environment. It was conceived that the warning to the following vehicle can be enhanced by controlling the vehicle. It is defined as follows. That is,
A brake lamp control unit for controlling on / off of the brake lamp;
An intersection approach detector for detecting that the host vehicle is approaching the intersection;
A pause line identifying unit that identifies a pause line disposed at the entrance to the detected intersection;
Forward monitoring means for monitoring the front of the vehicle;
A line-of-sight determination unit that determines the line-of-sight state of the detected intersection based on the monitoring result of the front monitor means,
The brake lamp control unit detects that the intersection approach detection unit detects that the host vehicle is in contact with the detected intersection, and the temporary stop line identification unit temporarily stops at the entrance to the detected intersection. When the line is specified and the line-of-sight determination unit determines that the line of sight of the detected intersection is bad, the brake lamp is turned on at the time of the first brake operation, and at the time of the second brake operation or the detected Turning off the brake lamp when passing an intersection, and keeping the brake lamp on after being turned on until being turned off;
Vehicle control device.

  According to the vehicle control device defined in the fifth aspect defined in this way, it is detected that the host vehicle is approaching the intersection, and a temporary stop line disposed at the entrance to the detected intersection And determining the line-of-sight state of the detected intersection based on the monitoring result in front of the host vehicle, detecting that the host vehicle is in contact with the detected intersection and detecting the detected When a stop line is identified at the entrance to the intersection and the line of sight of the detected intersection is determined to be bad, the brake lamp is turned on at the first braking operation, and at the second braking operation or Control is performed to turn off the brake lamp when the vehicle has passed the detected intersection. That is, the brake lamp is kept on until it is turned off after being turned on. According to such vehicle control, when the brake operation is performed at a place where the driver is likely to stop or slow down, that is, at a place where the prospect near the temporary stop line at the intersection is bad, Since the brake lamp can be kept on during the second braking operation or until passing the detected intersection, a sufficient warning can be given to the following vehicle. Further, since the brake lamp control is executed according to the situation in real time during traveling, the brake lamp control can be performed more realistically.

The vehicle control device defined in the sixth aspect is defined as follows with the further object of further reducing the processing load of the CPU when executing the control of the brake lamp. That is,
In the vehicle control apparatus defined in the fifth aspect, a map data storage unit that stores map data including information about the intersection and information about the temporary stop line;
A collation unit that collates the current position of the host vehicle with the map data,
The intersection approach detection unit detects that the host vehicle is approaching the intersection based on the result of the verification,
When the intersection approach detection unit detects that the host vehicle is approaching the detected intersection, the temporary stop line identification unit refers to the map data storage unit and moves to the detected intersection. Identify the pause line located at the entrance of the.
According to the vehicle control apparatus defined in the sixth aspect defined as described above, based on the information on the intersection and the information on the temporary stop line included in the map data prepared in advance, the intersection approach detection unit and the temporary stop line Since the process of the specific unit is executed, the processing load on the CPU can be further reduced when the brake lamp control is executed.

The vehicle control device defined in the seventh aspect is defined as follows with a further object of executing control of the brake lamp in accordance with the actual driving environment. That is,
In the vehicle control apparatus defined in the fifth aspect, the intersection approach detection unit detects that the host vehicle is approaching the intersection by performing image processing on a monitoring result of the front monitor means,
The temporary stop line specifying unit specifies a temporary stop line arranged at the entrance to the detected intersection by performing image processing on the monitor result.
According to the vehicle control apparatus defined in the seventh aspect defined as described above, the intersection approach detection unit and the stop line identification are performed by performing image processing on the monitor result obtained by the imaging unit such as a camera as the front monitoring unit. Therefore, when the brake lamp control is executed, the brake lamp control can be executed in accordance with the actual driving environment.

The vehicle control device defined in the eighth aspect further aims to control the rear warning means only when the control of the rear warning means is required, that is, only when the following vehicle is detected, It is defined as follows. That is,
In the vehicle control apparatus defined in any of the fifth to seventh aspects, the vehicle control device includes a subsequent vehicle detection unit that detects the subsequent vehicle,
The brake lamp control unit turns on the brake lamp when the subsequent vehicle detection unit detects the subsequent vehicle.
According to the vehicle control device defined in the eighth aspect defined as described above, the control of the rear warning means is executed on the condition that the subsequent vehicle is detected. When the following vehicle does not exist, the rear warning means is not controlled, so that smooth driving of the host vehicle is prioritized and is convenient for the driver.

The control method of the vehicle control system defined in the ninth aspect is
Map data including an information set including coordinates of on information and coordinates of off information, and including information sets having order information along the traveling direction of the road where the coordinates of on information and coordinates of off information are located A map data storage step to be stored in the storage unit;
A vehicle control system control method comprising: a warning means control step for controlling a rear warning means provided in a vehicle; and a collation step for collating the current position of the vehicle with the map data,
A first determination unit that determines, based on the result of the collation, that the vehicle has passed the coordinates of the on-information along the order information;
Based on the result of the collation, the second determination unit sets the coordinates of the off information included in the information set to which the coordinates of the on information that the vehicle has determined to pass in the first determination step belong to the order. A second determination step for determining that the information has passed along the information,
In the warning means control step, the rear warning means is turned on when the passage of the on-information coordinates of the vehicle is determined in the first determination step, and the off-information of the vehicle is determined in the second determination step. When the passage of coordinates is determined, the rear warning means is turned off, and the rear warning means is maintained in the first on state after being turned on until being turned off.
According to the control method of the 9th situation prescribed | regulated in this way, there exists an effect equivalent to a 1st aspect.

The control method of the vehicle control system defined in the tenth aspect is
In the control method defined in the ninth aspect, the subsequent vehicle detection unit includes a subsequent vehicle detection step of detecting a subsequent vehicle of the vehicle,
In the warning means control step, the rear warning means is turned on when the following vehicle is detected in the following vehicle detection step.
According to the control method of the 10th aspect prescribed | regulated in this way, there exists an effect equivalent to a 2nd aspect.

The control method of the vehicle control system defined in the eleventh aspect is:
In the control method stipulated in the ninth or tenth aspect, the third determination unit determines that the vehicle is within a predetermined distance behind the direction of travel of the road from the on-information coordinates based on the result of the verification. And a third determination step for determining that it is located at
In the warning means control step, the third determination step determines that the vehicle is located within the predetermined distance behind the coordinates of the on-information, and the vehicle driver performs a braking operation on the vehicle. When this is done, the rear warning means is turned on, and the rear warning means is maintained in the second on state until the first on state is started.
According to the control method of the 11th aspect prescribed | regulated in this way, there exists an effect equivalent to a 3rd aspect.

The control method of the vehicle control system defined in the twelfth aspect is
In the control method defined in any one of the ninth to eleventh aspects, the rear warning means is a brake lamp.
According to the control method of the 12th aspect prescribed | regulated in this way, there exists an effect equivalent to a 4th aspect.

The control method of the vehicle control device defined in the thirteenth aspect is:
A brake lamp control unit for controlling on / off of the brake lamp, and a brake lamp control step;
An intersection approach detection unit for detecting that the host vehicle is approaching the intersection;
A temporary stop line specifying unit for specifying a temporary stop line arranged at an entrance to the detected intersection;
A forward monitoring step, wherein the forward monitoring means monitors the front of the host vehicle;
A line-of-sight determination unit comprising a line-of-sight determination step for determining the line-of-sight state of the detected intersection based on the monitoring result in the forward monitoring step;
In the brake lamp control step, it is detected in the intersection approach detection step that the host vehicle is approaching the intersection, and a temporary stop line is provided at the entrance to the detected intersection in the temporary stop line specifying step. And when it is determined that the line of sight of the detected intersection is bad in the line of sight determination step, the brake lamp is turned on during the first brake operation, and the detected intersection is detected during the second brake operation. When the vehicle passes, the brake lamp is turned off, and the brake lamp is kept on until it is turned off after being turned on.
According to the control method of the 13th aspect prescribed | regulated in this way, there exists an effect equivalent to a 5th aspect.

The control method of the vehicle control device defined in the fourteenth aspect is
In the control method defined in the thirteenth aspect, a map data storage step of storing map data including information regarding the intersection and information regarding the temporary stop line in a map data storage unit;
A collation unit comprising: a collation step of collating a current position of the host vehicle with the map data;
In the intersection approach detection step, based on the result of the collation, it is detected that the host vehicle is approaching the intersection,
In the temporary stop line identification step, when it is detected in the intersection approach detection step that the host vehicle is approaching the intersection, the entrance to the detected intersection is referred to with reference to the map data storage unit Identify the pause line located at.
According to the control method of the 14th aspect prescribed | regulated in this way, there exists an effect equivalent to a 6th aspect.

The control method of the vehicle control device defined in the fifteenth aspect is
In the control method defined in the thirteenth aspect, in the intersection approach detection step, it is detected that the host vehicle is approaching the intersection by performing image processing on the monitor result in the front monitor step,
In the temporary stop line specifying step, the temporary stop line arranged at the entrance to the detected intersection is specified by performing image processing on the monitor result.
According to the control method of the 15th aspect prescribed | regulated in this way, there exists an effect equivalent to a 7th aspect.

The control method of the vehicle control device defined in the sixteenth aspect is:
In the control method defined in any one of the thirteenth to fifteenth aspects, the subsequent vehicle detection unit includes a subsequent vehicle detection step of detecting the subsequent vehicle,
In the brake lamp control step, the brake lamp is turned on when the subsequent vehicle is detected in the subsequent vehicle detection step.
According to the control method of the 16th aspect prescribed | regulated in this way, there exists an effect equivalent to an 8th aspect.

The computer program defined in the seventeenth aspect is:
Map data including an information set including coordinates of on information and coordinates of off information, the information set having order information along a traveling direction of a road where the coordinates of on information and coordinates of off information are located Function as a map data storage means for storing
Warning means control means for controlling the rear warning means, a vehicle control device which can be mounted on a vehicle having a rear warning means and is connected to the rear warning means via a local area network in the vehicle. A computer program for a vehicle control system that functions as collation means for collating the current position of the vehicle with the map data, the computer or the vehicle control device,
First determination means for determining, based on the result of the collation, that the vehicle has passed the coordinates of the on-information along the order information;
Based on the result of the collation, the vehicle has passed the coordinates of the off information included in the information set to which the coordinates of the on information to which the first determination unit has determined to pass along the order information. Function as a second determination means for determining
The warning means control means turns on the rear warning means when the first determination means determines the passage of the on-information coordinates of the vehicle, and the second determination means sets the off-information of the vehicle. When the passage of coordinates is determined, the rear warning means is turned off, and the rear warning means is maintained in the first on state after being turned on until being turned off.
According to the computer program of the 17th aspect prescribed | regulated in this way, there exists an effect equivalent to a 1st aspect.

The computer program defined in the eighteenth aspect is:
In the computer program defined in the seventeenth aspect, the vehicle control device further includes:
Functioning as subsequent vehicle detection means for detecting a subsequent vehicle of the vehicle,
The warning means control means turns on the rear warning means when the following vehicle detection means detects the following vehicle.
According to the computer program of the 18th aspect prescribed | regulated in this way, there exists an effect equivalent to a 2nd aspect.

The computer program defined in the nineteenth aspect is
In the computer program defined in the seventeenth or eighteenth aspect, the vehicle control device or the computer is further
Based on the result of the collation, the vehicle functions as a third determination unit that determines that the vehicle is located within a predetermined distance behind the traveling direction of the road from the coordinates of the ON information.
The warning means control means determines that the third determination means determines that the vehicle is located within the predetermined distance behind the coordinates of the ON information, and the vehicle driver performs a braking operation of the vehicle. When this is done, the rear warning means is turned on, and the rear warning means is maintained in the second on state until the first on state is started.
According to the computer program of the 19th aspect prescribed | regulated in this way, there exists an effect equivalent to a 3rd aspect.

The computer program defined in the twentieth aspect is
In the computer program defined in any one of the seventeenth to nineteenth aspects, the rear warning means is a brake lamp.
According to the computer program of the 20th aspect prescribed | regulated in this way, there exists an effect equivalent to a 4th aspect.

The computer program defined in the twenty-first aspect is
A computer program for controlling a vehicle control device, comprising:
Brake lamp control means for controlling on / off of the brake lamp;
An intersection approach detection means for detecting that the vehicle is approaching the intersection;
A temporary stop line specifying means for specifying a temporary stop line arranged at the entrance to the detected intersection;
Forward monitoring means for monitoring the front of the vehicle;
Based on the monitoring result of the front monitor means, function as a line-of-sight determination means for determining the line-of-sight state of the detected intersection,
The brake lamp control means detects that the intersection approach detecting means detects that the host vehicle is approaching the intersection, and the temporary stop line specifying means sets a temporary stop line at the entrance to the detected intersection. And when the line of sight determining means determines that the line of sight of the detected intersection is bad, the brake lamp is turned on at the time of the first brake operation, and the detected intersection is detected at the time of the second brake operation. When the vehicle passes, the brake lamp is turned off, and the brake lamp is kept on until it is turned off after being turned on.
According to the computer program of the 21st aspect prescribed | regulated in this way, there exists an effect equivalent to a 5th aspect.

The computer program defined in the twenty-second aspect is:
In the computer program defined in the twenty-first aspect, the computer is further
Map data storage means for storing map data including information about the intersection and information about the stop line;
Function as collation means for collating the current position of the host vehicle with the map data;
The intersection approach detection means detects that the host vehicle is approaching the intersection based on the result of the verification,
The temporary stop line specifying means refers to the map data storage means when the intersection approach detecting means detects that the host vehicle is approaching the intersection, and enters the detected intersection. Identify the pause line located at.
According to the computer program of the 22nd aspect prescribed | regulated in this way, there exists an effect equivalent to a 6th aspect.

The computer program defined in the 23rd aspect is:
In the computer program defined in the twenty-first aspect, the intersection approach detection means detects that the host vehicle is approaching the intersection by performing image processing on the monitoring result of the front monitor means,
The temporary stop line specifying means specifies the temporary stop line arranged at the entrance to the detected intersection by performing image processing on the monitor result.
According to the computer program of the 23rd aspect prescribed | regulated in this way, there exists an effect equivalent to a 7th aspect.

The computer program defined in the twenty-fourth aspect is
In the computer program defined in any one of the 21st to 23rd aspects, the computer further comprises:
Function as a following vehicle detection means for detecting the following vehicle,
The brake lamp control means turns on the brake lamp when the succeeding vehicle detection means detects the succeeding vehicle.
According to the computer program of the 24th aspect prescribed | regulated in this way, there exists an effect equivalent to an 8th aspect.

  A recording medium for recording the computer program defined in any one of the seventeenth to twenty-fourth aspects is defined in the twenty-fifth aspect.

FIG. 1 is a block diagram schematically showing the configuration of the vehicle control system 1 according to the first embodiment of the present invention. FIG. 2 is an explanatory diagram illustrating an example of each data structure of an information set table stored in the map data storage unit 21 and the information set. FIG. 3 is a flowchart showing an example of a vehicle control method implemented by the vehicle control system 1 according to the first embodiment of the present invention. FIG. 4 is a block diagram schematically showing the configuration of the vehicle control system 100 according to the second embodiment of the present invention. FIG. 5 is a block diagram schematically showing the configuration of the vehicle control system 200 according to the third embodiment of the present invention. FIG. 6 is a block diagram schematically showing the configuration of the vehicle control device 300 according to the fourth embodiment of the present invention. FIG. 7 is a block diagram schematically showing the configuration of the vehicle control device 400 according to the fifth embodiment of the present invention. FIG. 8 is a flowchart illustrating an example of a vehicle control method implemented by the vehicle control device 400 according to the fifth embodiment of the present invention. FIG. 9 is a block diagram schematically showing the configuration of the vehicle control device 500 according to the sixth embodiment of the present invention. FIG. 10 is a block diagram schematically showing the configuration of the vehicle control system 700 according to the first embodiment of the present invention. FIG. 11 is a block diagram schematically showing the configuration of the vehicle control apparatus 800 according to the second embodiment of the present invention.

  Several embodiments and examples according to the present disclosure will be described below with reference to the accompanying drawings.

<First Embodiment>
FIG. 1 is a block diagram schematically showing a configuration of a vehicle control system 1 as an embodiment of the present invention. This will be described below with reference to the schematic diagram shown in FIG.
As shown in FIG. 1, the vehicle control system 1 of the first embodiment includes a server device 2 and a vehicle 3, and the server device 2 and the vehicle control device 33 in the vehicle 3 are wirelessly connected via a network N, respectively. It is connected. The vehicle included in the vehicle control system 1 is not limited to one, and may include second to nth vehicles M2 to Mn (not shown) in addition to the vehicle (M1) as the first vehicle. In the following example, the map data storage unit is provided in the server device, but is not limited to this, and the vehicle may be provided.

The server device 2 includes a map data storage unit 21.
The map data storage unit 21 stores map data. The map data is an information set including coordinates of on-information and off-information regarding the rear warning means described later, and the order information along the traveling direction of the road where the coordinates of the on-information and coordinates of the off-information are located Contains an information set. The information set includes, for example, a road traveling direction, on-information coordinates, and off-information coordinates. The coordinates of the on information and the coordinates of the off information belonging to one information set are located in the order of the coordinates of the on information and then the coordinates of the off information along the traveling direction of the road. The coordinates of the on information and the coordinates of the off information are set manually or automatically by the operator based on the position where there is a target that may activate the backward warning means such as a temporary stop line or ETC, for example. Can be done. For example, when it is set based on the position of the pause line, the coordinates of the on information are set in the traveling direction based on the position where the pause line is arranged or the position where the pause line is arranged. On the other hand, it can be set at a position at a predetermined distance (for example, 5 m). On the other hand, the coordinates of the off information are based on the position where the temporary stop line is arranged as a reference, at a position a predetermined distance (for example, 5 m) in the traveling direction, or within the intersection where the temporary stop line is arranged. The position can be set. An example of such an information set is shown in FIG. The information set shown in FIG. 2 includes a link number L1, a traveling direction d, on-information coordinates Pon (x1, y1), and off-information coordinates Poff (x2, y2) as an information set D01 for the pause line s. be able to. The map data storage unit 21 may include information on road elements for defining map information such as links and nodes, information drawn on a three-dimensional map such as structures, and the like. Such map data may be stored as point cloud data or image data from a laser scanner, for example.

The vehicle 3 includes a vehicle control device 33 that is communicably connected to the rear warning unit 31 via the rear warning unit 31 and the in-vehicle local area network of the vehicle 3.
The rear warning means 31 is a means capable of giving a warning due to vehicle control of the vehicle 3 to a vehicle approaching rearward of the vehicle 3. As such means, a brake lamp or the like can be given as a means capable of visually giving a warning, and a buzzer or the like can be given as a means capable of giving a warning visually. The rear warning means 31 is on / off controlled based on the vehicle control of the vehicle control device 33.

The vehicle control device 33 includes a current position specifying unit 331, a collation unit 332, a first determination unit 333, a second determination unit 334, and a warning unit control unit 335, and controls on / off of the rear warning unit 31.
The current position specifying unit 331 specifies the current position of the vehicle 3 using a GPS device or a gyro device. In addition, the current time can be specified.
The collation unit 332 refers to the current position specifying unit 331 and the map data storage unit 21 to collate the current position of the vehicle 3 with the map data.

The first determination unit 333 determines that the vehicle 3 has passed the coordinates of the on information along the order information included in the information set to which the coordinates of the on information belong, based on the collation result of the collation unit 332. .
The second determination unit 334 determines the coordinates of the off information included in the information set to which the coordinates of the on information determined by the first determination unit 333 based on the result of the collation by the collation unit 332 belong. It is determined that it has passed along the order information.
The warning means control unit 335 controls the rear warning means based on the determination results of the first determination unit 333 and the second determination unit 334. Specifically, the warning means control unit 335 turns on the rear warning means 31 when the first determination unit 333 determines that the on information coordinates of the vehicle 3 have passed, and the second determination unit 334 turns off the vehicle 3. When the passage of the information coordinates is determined, the rear warning means 335 is turned off, and the rear warning means 31 is maintained in the first on state until it is turned off after being turned on.

FIG. 3 is a flowchart showing an example of a vehicle control method implemented by the vehicle control system 1 shown in FIG. In this example, the rear warning means 31 is a brake lamp, but is not limited thereto.
In step 1, the current position specifying unit 331 specifies the current position of the vehicle 3.
In step 3, the collation unit 332 collates the current position of the vehicle 3 specified in step 1 with the map data acquired from the map data storage unit 21.

In step 5, based on the result of the collation in step 3, the first determination unit 333 has passed the vehicle 3 along the order information included in the information set to which the coordinates of the on information belong. It is determined whether or not. When it is determined that the vehicle 3 has passed the coordinate Pon of the on-information (step 5: Yes), the process proceeds to step 7.
In step 7, the warning means control unit 335 controls to turn on the brake lamp 31, that is, to turn on the brake lamp 31.
In step 9, the collation unit 332 collates the current position of the vehicle specified in step 1 with the map data acquired from the map data storage unit 21.

In step 11, based on the result of collation in step 9, the second determination unit 334 calculates the off-information coordinate Poff included in the information set to which the on-information coordinate Pon that the vehicle 3 has determined to pass in step 5 belongs. It is determined whether it has passed along the order information. When it is determined that the vehicle 3 has passed the coordinate Poff of the off information (step 11: Yes), the process proceeds to step 13.
In step 13, the warning means control unit 335 controls to turn off the brake lamp 31, that is, to turn off the brake lamp 31.
That is, in the vehicle control method described above, the brake lamp 31 is maintained in the on state (first on state) until it is turned on in step 7 and then turned off in step 13.

Second Embodiment
FIG. 4 is a block diagram schematically showing the configuration of the vehicle control system 100 as an embodiment of the present invention.
As shown in FIG. 4, the vehicle control system 100 of the second embodiment includes a server device 2 and a vehicle 4, and the vehicle control device 41 in the vehicle 4 is a vehicle control system 1 of the first embodiment. In addition to the components included in the vehicle control device 33, the vehicle control device 33 further includes a subsequent vehicle detection unit 411, and includes a warning unit control unit 413 instead of the warning unit control unit 335. 3, the same components as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is partially omitted.

The subsequent vehicle detection unit 411 detects a subsequent vehicle that follows the vehicle 4. The detection of the following vehicle can be executed based on, for example, an in-vehicle camera, a laser scanner, a communication device capable of inter-vehicle communication, and the like installed so as to be able to image the rear of the vehicle. As another example, it may be detected based on position information and advancing direction information of the following vehicle. The subsequent vehicle detection unit 411 may detect a subsequent vehicle located within a predetermined range (for example, 50 m) behind the vehicle.
The warning means control unit 413 controls the rear warning means based on the detection results of the subsequent vehicle detection unit 411 in addition to the determination results of the first determination unit 333 and the second determination unit 334. Specifically, the warning means control unit 413 determines that the vehicle 4 has passed the coordinates of the on-information in the first determination unit 333, and the subsequent vehicle detection unit 411 detects the subsequent vehicle of the vehicle 4. When the rear warning means 31 is turned on. The control for turning off the rear warning means 31 can be executed in the same manner as the warning means control unit 335.

<Third Embodiment>
FIG. 5 is a block diagram schematically showing the configuration of the vehicle control system 200 as one embodiment of the present invention.
As shown in FIG. 5, the vehicle control system 200 of the third embodiment includes the server device 2 and the vehicle 5 including the braking means 53, and the in-vehicle vehicle control device 51 is the first embodiment. In addition to the components included in the vehicle control device 33 of the vehicle control system 1, the vehicle control system 1 further includes a third determination unit 511, and includes a warning unit control unit 513 instead of the warning unit control unit 335. In FIG. 5, the same components as those in FIGS. 1 and 4 are denoted by the same reference numerals, and description thereof is partially omitted.

The braking means 53 is means capable of braking the vehicle 5 and is connected to the vehicle control device 51 via the in-vehicle local area network of the vehicle 5 so as to be communicable. Such means includes a brake.
Based on the collation result of the collation unit 332, the third determination unit 511 confirms that the vehicle 5 is located within a predetermined distance from the on-information coordinate with respect to the traveling direction of the road to which the on-information coordinate belongs. judge. Based on the collation result, the third determination unit 511 identifies the link (road) on which the vehicle 5 is traveling, and coordinates of the on-information that are located in front of the current position of the vehicle 5 and the traveling direction of the identified link. Is determined to be within a predetermined range (for example, 20 m).

  The warning means control unit 513 is configured to move backward based on the determination result of the third determination unit 511 and the braking operation information from the braking unit 53 in addition to the determination results of the first determination unit 333 and the second determination unit 334. Control the warning means. Specifically, the warning means control unit 513 determines that the third determination unit 511 determines that the vehicle 5 is located within a predetermined range before the coordinates of the on-information, and performs a braking operation by the driver of the vehicle 5. When this is done, the rear warning means 31 is turned on, and the rear warning means 31 is maintained in the second on state until the first on state is started. In other words, in this example, the rear warning unit 31 continuously maintains the on state after the second on state is started and until the first on state is completed.

<Fourth embodiment>
FIG. 6 is a block diagram schematically showing the configuration of the vehicle control device 300 as an embodiment of the present invention.
As shown in FIG. 6, the vehicle control apparatus 300 according to the fourth embodiment includes a front monitor unit 301, an intersection approach detection unit 302, a temporary stop line identification unit 303, a line-of-sight determination unit 304, a brake lamp control unit 305, and a brake 306. Is provided. In FIG. 6, the same components as those in FIGS. 1, 4 and 5 are denoted by the same reference numerals, and the description thereof is partially omitted.

The front monitor unit 301 monitors the front of the host vehicle. Examples of such means include an in-vehicle camera and a laser scanner installed so as to be able to image the front of the vehicle.
The intersection approach detection unit 302 detects that the host vehicle is approaching the intersection. Although the detection method is not particularly limited, it is possible to detect that the host vehicle is approaching the intersection by performing image processing on the monitoring result of the front monitor unit 301. For example, as a result of the image processing, when the feature information of the intersection is included in the image, it can be assumed that the host vehicle is approaching the intersection. The feature information of the intersection includes information indicating the presence of a traffic light, an intersection road with a running road, a sign that can be recognized as an intersection, and the like. Further, the approach condition may be that an area occupied by the feature information of the intersection in the image is a predetermined ratio or more. The value of the predetermined ratio depends on the type of intersection feature information and can be determined in advance. Also, the approach condition may be that image processing of a plurality of images obtained over time is performed and the area occupied by the feature information of the intersection in the image is gradually increased.

  The temporary stop line specifying unit 303 specifies a temporary stop line arranged at the entrance to the intersection detected by the intersection approach detection unit 302. The detection method is not particularly limited, but the temporary stop line arranged at the entrance to the intersection detected by the intersection approach detection unit 302 is specified by performing image processing on the monitoring result of the front monitor unit 301. Can do. For example, as a result of the image processing, when the feature information of the pause line is included in the image, the presence of the pause line can be specified. As the feature information of the temporary stop line, white paint arranged perpendicular to the traveling direction of the road can be cited. The image for detecting the approach of the intersection and the image for specifying the temporary stop line may be the same image or different images. In the case of the same image, the feature information of the pause line of sight may be located on the front side of the feature information of the intersection.

  The line-of-sight determination unit 304 determines the line-of-sight state of the intersection detected by the intersection detection unit 302 based on the monitoring result of the forward monitoring means. Although the determination method is not particularly limited, the line-of-sight state of the detected intersection can be determined by performing image processing on the monitor result of the front monitor unit 301. For example, when the area occupied by the region representing the intersection road in the image is equal to or less than a predetermined ratio as a result of the image processing, it can be determined that the detected intersection is in poor visibility. As another example, information from a moving body detection sensor (not shown) that can detect a moving body such as a vehicle, a bicycle, or a pedestrian installed on an intersection road is detected by the moving body detection sensor. When a moving body near the intersection and which should be recognized in the image does not exist in the image, it may be determined that the visibility state of the intersection is poor. The line-of-sight state of the detected intersection may be based on the monitoring result at the position of the temporary stop line, or may be based on the monitoring result at a predetermined distance behind the temporary stop line in the traveling direction.

  The brake lamp control unit 305 controls on / off of the brake lamp. Specifically, the intersection approach detection unit 302 detects that the host vehicle is approaching the intersection, and the temporary stop line identification unit 303 identifies a temporary stop line at the entrance to the detected intersection, When the line-of-sight determination unit 304 determines that the line-of-sight of the detected intersection is bad, the brake lamp is turned on at the time of the first brake operation by the brake 306, and the intersection detected at the second brake operation or the above-described intersection is detected. When the vehicle passes, the brake lamp is turned off, and the brake lamp is kept turned on after being turned on until being turned off. That is, in the former case, the brake lamp is kept on until it is turned off when the second brake operation is released after being turned on during the first brake operation. On the other hand, in the latter case, the brake lamp is kept on until it passes through the intersection by going straight or turning right or left after being turned on at the time of the first brake operation. More specifically, the normal brake lamp is on / off controlled depending on the brake operation. However, according to the present disclosure, the on state is maintained without depending on the brake operation by satisfying the above condition. In this way, the ON state that does not depend on the brake operation is the time between the release of the first brake operation and the execution of the second brake operation in the former case, and the first brake operation in the latter case. It is maintained until it passes through the detected intersection after the release of.

<Fifth Embodiment>
FIG. 7 is a block diagram schematically showing the configuration of the vehicle control apparatus 400 as one embodiment of the present invention.
As shown in FIG. 7, the vehicle control device 400 of the fifth embodiment includes a map data storage unit 401, a current position specifying unit 331, in addition to the components included in the vehicle control device 300 of the fourth embodiment. A collation unit 402 is further provided, and an intersection approach detection unit 403 and a temporary stop line specification unit 404 are provided instead of the intersection approach detection unit 302 and the temporary stop line specification unit 303, respectively. In FIG. 7, the same components as those in FIGS. 1, 4, 5, and 6 are denoted by the same reference numerals, and description thereof is partially omitted.

The map data storage unit 401 stores map data. In the map data storage unit 401, in addition to the map data stored in the map data storage unit 21, information indicating an intersection and a temporary stop line is associated with each other, and further stored together with the position information thereof. .
The collation unit 402 refers to the current position specifying unit 331 and the map data storage unit 401 and collates the current position of the host vehicle with the map data.

The intersection approach detection unit 403 refers to the map data storage unit 401 and the collation unit 402 and detects that the host vehicle is approaching the intersection. As the detection method, for example, based on the result of the comparison, an intersection located within a predetermined range (for example, 20 m) ahead of the traveling direction of the road on which the host vehicle is traveling is approached based on the current position of the host vehicle. Detect as an intersection.
When the intersection approach detection unit 403 detects that the host vehicle is approaching the intersection, the temporary stop line identification unit 404 is arranged at the entrance to the detected intersection with reference to the map data storage unit 401. Identify paused lines. As the specific method, for example, referring to the map data storage unit 401, a temporary stop line associated with the intersection detected by the intersection approach detection unit 403, which is a temporary line located before the detected intersection. Identify the stop line.

FIG. 8 is a flowchart showing an example of a vehicle control device implemented by the vehicle control device 400 shown in FIG.
In step 21, the current position specifying unit 331 specifies the current position of the host vehicle.
In step 23, the collation unit 402 collates the current position of the host vehicle identified in step 21 with the map data acquired from the map data storage unit 401.

In step 25, the intersection approach detection unit 403 detects that the current position of the host vehicle specified in step 21 is approaching the intersection based on the result of the collation in step 23. When approach to the intersection is detected (step 25: Yes), the process proceeds to step 27.
In step 27, the stop line specifying unit 404 specifies the presence or absence of a stop line arranged at the entrance to the intersection where the approach is detected in step 25, based on the result of the collation in step 23. When the presence of the temporary stop line is specified (step 27: Yes), the process proceeds to step 29.
In step 29, the line-of-sight determination unit 304 determines the line-of-sight at the intersection where the approach is detected in step 25. For example, when the area occupied by the area representing the intersection road at the intersection of step 25 in the image is equal to or less than a predetermined ratio, the determination result is obtained when the detected result of the front monitor means is image-processed. Can be determined to be bad. When it is determined that the line-of-sight state of the detected intersection is bad (step 29: Yes), the process proceeds to step 31.

In step 31, when the first brake operation by the brake 306 is executed (step 31: Yes), the brake lamp control unit 305 controls to turn on the brake lamp, that is, turn on the brake lamp (step 33). ).
In step 35, the brake lamp control unit 305 executes the second brake operation following step 31 by the brake 306 (step 35: Yes), and the brake operation is released (step 37: Yes). The lamp is turned off (step 39). On the other hand, in the case of No in step 37, the brake lamp control unit 305 turns off the brake lamp when the host vehicle passes the intersection of step 25 (step 41).
That is, in the vehicle control method described above, the brake lamp is kept on until it is turned on in step 33 and then turned off in step 39 or step 41.

<Sixth Embodiment>
FIG. 9 is a block diagram schematically showing a configuration of a vehicle control device 500 as one embodiment of the present invention.
As shown in FIG. 9, the vehicle control device 500 of the sixth embodiment further includes a subsequent vehicle detection unit 411 in addition to the components included in the vehicle control device 400 of the fifth embodiment, and includes a brake lamp control unit. Instead of 305, a brake lamp control unit 501 is provided. 9, the same components as those in FIGS. 1, 4, 5, 6, and 7 are denoted by the same reference numerals, and description thereof is partially omitted.

  The brake lamp control unit 501 controls on / off of the brake lamp based on the detection result of the subsequent vehicle detection unit 411 in addition to the results of the intersection approach detection unit 302, the temporary stop line identification unit 303, and the line-of-sight determination unit 304. Specifically, the brake lamp control unit 501 executes the same brake lamp on / off control as the brake lamp control unit 305 only when the subsequent vehicle detection unit 411 detects the subsequent vehicle. On the other hand, when the succeeding vehicle is not detected, the brake lamp is on / off controlled only depending on the brake operation as usual.

<First embodiment>
FIG. 10 is a block diagram showing a schematic configuration of a vehicle control system 700 as an embodiment of the present invention. The vehicle control system 700 of the first example includes a server device 710 and a vehicle 730 corresponding to the server device 2 and the vehicle 3 constituting the vehicle control system 1 of the first embodiment. 10, the same elements as those in FIGS. 1, 4, 5, 6, 7, and 9 are denoted by the same reference numerals, and the description thereof is partially omitted.

The server device 710 includes a control unit 711, a memory unit 712, an input unit 713, an output unit 714, a map data storage unit 2, an interface unit 715, and a communication unit 716.
The server-side control unit 711 is a computer device that includes a CPU, a buffer memory, and other devices, and controls other elements constituting the server device 710.
A computer program is stored in the server-side memory unit 712, and this computer program is read into the server-side control unit 710, which is a computer device, to make it function. This computer program can be stored in a general-purpose medium such as a DVD.
The server side input unit 713 is used, for example, for creating map data stored in the map data storage unit 21. As the input unit 713, a pointing device such as a touch panel that cooperates with the display content of a mouse, a light pen, or a display, or a voice input device such as a keyboard or a microphone can be used.

The server-side output unit 714 includes a display unit such as a display, and displays various information such as map data stored in the map data storage unit 21.
The server side interface unit 715 connects the server device 710 to a wireless network or the like.
The server-side communication unit 716 can communicate with the vehicle-side communication unit 736 via the network N, and transmits and receives various types of information by a reception unit and a transmission unit (not shown) in the communication unit 716.

The vehicle 730 includes a control unit 731, a memory unit 732, an input unit 733, an output unit 734, a current position specifying unit 331, a collation unit 332, a first determination unit 333, a second determination unit 334, a rear warning unit 335, an interface. A unit 735 and a communication unit 736.
The vehicle-side control unit 731 is a computer device that includes a buffer memory and other devices, and controls other elements constituting the vehicle 730.
A computer program is stored in the vehicle-side memory unit 732, and this computer program is read into the control unit 731 which is a computer device and causes it to function. This computer program can be stored in a general-purpose medium such as an SD (registered trademark) memory card.
The vehicle side input unit 733 is used, for example, for inputting various commands of the vehicle user. Specifically, it is used for input such as destination setting. As the input unit 733, a pointing device such as a touch panel that cooperates with the display content of a mouse, a light pen, or a display, or a voice input device such as a keyboard or a microphone can be used. It is also possible to accept selection of whether to perform on / off control of the rear warning means of the present invention.

The vehicle side output unit 734 includes a display unit such as a display, and displays various information provided from the server device 710. In addition, as a function of a general output unit, a search screen for a destination search, a map, a current position of the vehicle 730, a guide route when a route search is performed, and other information are displayed. The output unit 734 may include a voice transmission unit and output the search result by voice. The on / off state of the rear warning means by the warning means control unit 305 may be displayed on the display so as to be visible.
The vehicle-side interface unit 735 connects the vehicle 730 to a wireless network or the like.
The vehicle-side communication unit 736 enables communication with the server-side communication unit 716 via the network N, and various types of information are transmitted and received by a reception unit and a transmission unit (not shown) in the communication unit 736.

<Second embodiment>
FIG. 11 is a block diagram showing a schematic configuration of a vehicle control apparatus 800 as an embodiment of the present invention. The vehicle control device 800 of the second example includes a control unit 810, a memory unit 811, an input unit 812, an output unit 813, and an interface unit 814, in addition to the components constituting the vehicle control device 300 of the fourth embodiment. Prepare. In FIG. 11, the same elements as those in FIGS. 1, 4, 5, 6, 7, 9, and 10 are denoted by the same reference numerals, and description thereof is partially omitted.

The control unit 810 is a computer device including a buffer memory and other devices, and controls other components constituting the vehicle control device 800.
A computer program is stored in the memory unit 811, and this computer program is read into the control unit 810, which is a computer device, and causes it to function. This computer program can be stored in a general-purpose medium such as an SD (registered trademark) memory card.
The input unit 812 is used, for example, for inputting various commands of the vehicle user. Specifically, it is used for input such as destination setting. As the input unit 812, a mouse, a light pen, or a pointing device such as a touch panel that cooperates with display contents of a display, or a voice input device such as a keyboard or a microphone can be used.
The output unit 813 includes a display, a map drawn based on a map database (not shown), monitor information of the front monitor unit 301, an intersection detected by the intersection approach detection unit 302, and specified by the temporary stop line specifying unit 303 Information regarding the temporary stop line, the visibility state of the intersection determined by the visibility determination unit 304, the on / off state of the brake based on the brake control of the brake lamp control unit 305, and the like are displayed. The output unit 813 may include a voice transmission unit and output the information by voice.
The interface unit 814 connects the vehicle 800 to a wireless network or the like.

  Although the embodiments and examples of the present invention have been described above, two or more of the embodiments (examples) may be combined and implemented. Alternatively, one of these embodiments (examples) may be partially implemented. Furthermore, among these, two or more embodiments (examples) may be partially combined.

  The present invention is not limited to the description of the embodiments and examples of the invention described above. Various modifications may be included in the present invention as long as those skilled in the art can easily conceive without departing from the description of the scope of claims.

1 100 200 700 Vehicle control system 2 Server device 3 4 5 Vehicle (M1)
21 401 Map data storage unit 31 Rear warning unit 33 41 51 300 400 500 800 Vehicle control device 53 Braking unit 301 Front monitor unit 302 403 Intersection approach detection unit 303 404 Temporary stop line identification unit 304 Line-of-sight determination unit 305 501 Brake lamp control unit 306 Brake 331 Current position specifying unit 332 402 Verification unit 333 First determination unit 334 Second determination unit 335 413 513 Warning means control unit 411 Subsequent vehicle detection unit 511 Third determination unit

Claims (25)

Stores map data including an information set including coordinates of on information and coordinates of off information, the information set having order information along the traveling direction of the road on which the coordinates of on information and coordinates of off information are located A map data storage unit;
A vehicle control device that can be mounted on a vehicle including a rear warning unit and is communicably connected to the rear warning unit via an in-vehicle local area network of the vehicle, the warning unit control for controlling the rear warning unit A vehicle control device comprising: a collation unit that collates the current position of the vehicle with the map data;
A vehicle control system comprising:
A first determination unit configured to determine that the vehicle has passed the coordinates of the on-information along the order information based on the result of the verification;
Based on the result of the collation, the vehicle has passed the coordinates of the off information included in the information set to which the coordinates of the on information to which the first determination unit has determined to pass along the order information. A second determination unit for determining
The warning means control section turns on the rear warning means when the first determination section determines the passage of the coordinates of the on information of the vehicle, and the second determination section sets the off information of the vehicle. When the passage of coordinates is determined, the rear warning means is turned off, and the rear warning means is maintained in the first on state until being turned off after being turned on.
Vehicle control system. The vehicle includes a subsequent vehicle detection unit that detects a subsequent vehicle,
The warning means control unit turns on the rear warning means when the following vehicle detection unit detects the following vehicle.
The vehicle control system according to claim 1. A third determination unit that determines, based on the result of the comparison, that the vehicle is located within a predetermined distance behind the traveling direction of the road from the coordinates of the ON information;
The warning means control unit determines that the third determination unit determines that the vehicle is located within the predetermined distance behind the coordinates of the on-information, and the vehicle driver performs a braking operation of the vehicle. The rear warning means is turned on and the rear warning means is maintained in the second on state until the first on state is started.
The vehicle control system according to claim 1 or 2. The rear warning means is a brake lamp;
The vehicle control system according to any one of claims 1 to 3. A brake lamp control unit for controlling on / off of the brake lamp;
An intersection approach detector for detecting that the host vehicle is approaching the intersection;
A pause line identifying unit that identifies a pause line disposed at the entrance to the detected intersection;
Forward monitoring means for monitoring the front of the vehicle;
A line-of-sight determination unit that determines the line-of-sight state of the detected intersection based on the monitoring result of the front monitor means,
The brake lamp control unit detects that the intersection approach detection unit detects that the host vehicle is approaching the intersection, and the temporary stop line identification unit sets a temporary stop line at the entrance to the detected intersection. And when the line of sight determining unit determines that the line of sight of the detected intersection is bad, the brake lamp is turned on at the time of the first brake operation, and the detected intersection is detected at the time of the second brake operation. The brake lamp is turned off when passing, and the brake lamp is kept on until it is turned off after being turned on;
Vehicle control device. A map data storage unit for storing map data including information about the intersection and information about the temporary stop line;
A collation unit that collates the current position of the host vehicle with the map data,
The intersection approach detection unit detects that the host vehicle is approaching the intersection based on the result of the verification,
When the intersection approach detection unit detects that the host vehicle is approaching the intersection, the temporary stop line identification unit refers to the map data storage unit and enters the detected intersection. Identify the pause line placed in the
The vehicle control device according to claim 5. The intersection approach detection unit detects that the host vehicle is approaching the intersection by performing image processing on the monitoring result of the front monitor means,
The temporary stop line specifying unit specifies the temporary stop line arranged at the entrance to the detected intersection by performing image processing on the monitor result,
The vehicle control device according to claim 5. A subsequent vehicle detection unit for detecting the subsequent vehicle,
The brake lamp control unit turns on the brake lamp when the subsequent vehicle detection unit detects the subsequent vehicle.
The vehicle control apparatus as described in any one of Claims 5-7. Map data including an information set including coordinates of on information and coordinates of off information, and including information sets having order information along the traveling direction of the road where the coordinates of on information and coordinates of off information are located A map data storage step to be stored in the storage unit;
A vehicle control system control method comprising: a warning means control step for controlling a rear warning means provided in a vehicle; and a collation step for collating the current position of the vehicle with the map data,
A first determination unit that determines, based on the result of the collation, that the vehicle has passed the coordinates of the on-information along the order information;
Based on the result of the collation, the second determination unit sets the coordinates of the off information included in the information set to which the coordinates of the on information that the vehicle has determined to pass in the first determination step belong to the order. A second determination step for determining that the information has passed along the information,
In the warning means control step, the rear warning means is turned on when the passage of the on-information coordinates of the vehicle is determined in the first determination step, and the off-information of the vehicle is determined in the second determination step. When the passage of coordinates is determined, the rear warning means is turned off, and the rear warning means is maintained in the first on state until being turned off after being turned on.
A control method for a vehicle control system. A subsequent vehicle detection unit comprising a subsequent vehicle detection step of detecting a subsequent vehicle of the vehicle;
In the warning means control step, when the subsequent vehicle is detected in the subsequent vehicle detection step, the rear warning means is turned on.
The control method according to claim 9. A third determination step in which a third determination unit determines, based on the result of the collation, that the vehicle is located within a predetermined distance behind the traveling direction of the road from the coordinates of the on-information; Prepared,
In the warning means control step, the third determination step determines that the vehicle is located within the predetermined distance behind the coordinates of the on-information, and the vehicle driver performs a braking operation on the vehicle. The rear warning means is turned on and the rear warning means is maintained in the second on state until the first on state is started.
The control method according to claim 9 or 10. The rear warning means is a brake lamp;
The control method according to any one of claims 9 to 11. A brake lamp control unit for controlling on / off of the brake lamp, and a brake lamp control step;
An intersection approach detection unit for detecting that the host vehicle is approaching the intersection;
A temporary stop line specifying unit for specifying a temporary stop line arranged at an entrance to the detected intersection;
A forward monitoring step, wherein the forward monitoring means monitors the front of the host vehicle;
A line-of-sight determination unit comprising a line-of-sight determination step for determining the line-of-sight state of the detected intersection based on the monitoring result in the forward monitoring step;
In the brake lamp control step, it is detected in the intersection approach detection step that the host vehicle is approaching the intersection, and a temporary stop line is provided at the entrance to the detected intersection in the temporary stop line specifying step. And when it is determined that the line of sight of the detected intersection is bad in the line of sight determination step, the brake lamp is turned on during the first brake operation, and the detected intersection is detected during the second brake operation. The brake lamp is turned off when passing, and the brake lamp is kept on until it is turned off after being turned on;
A control method for a vehicle control device. A map data storage step for storing map data including information on the intersection and information on the temporary stop line in a map data storage unit;
A collation unit comprising: a collation step of collating a current position of the host vehicle with the map data;
In the intersection approach detection step, based on the result of the collation, it is detected that the host vehicle is approaching the intersection,
In the temporary stop line identification step, when it is detected in the intersection approach detection step that the host vehicle is approaching the intersection, the entrance to the detected intersection is referred to with reference to the map data storage unit Identify the pause line placed in the
The control method according to claim 13. In the intersection approach detection step, it is detected that the host vehicle is approaching the intersection by performing image processing on the monitoring result in the forward monitoring step,
In the temporary stop line specifying step, the temporary stop line arranged at the entrance to the detected intersection is specified by performing image processing on the monitor result.
The control method according to claim 13. The subsequent vehicle detection unit includes a subsequent vehicle detection step of detecting the subsequent vehicle,
In the brake lamp control step, when the subsequent vehicle is detected in the subsequent vehicle detection step, the brake lamp is turned on.
The control method according to any one of claims 13 to 15. Map data including an information set including coordinates of on information and coordinates of off information, the information set having order information along a traveling direction of a road where the coordinates of on information and coordinates of off information are located Function as a map data storage means for storing
Warning means control means for controlling the rear warning means, a vehicle control device which can be mounted on a vehicle having a rear warning means and is connected to the rear warning means via a local area network in the vehicle. A computer program for a vehicle control system that functions as collation means for collating the current position of the vehicle with the map data, the computer or the vehicle control device,
First determination means for determining, based on the result of the collation, that the vehicle has passed the coordinates of the on-information along the order information;
Based on the result of the collation, the vehicle has passed the coordinates of the off information included in the information set to which the coordinates of the on information to which the first determination unit has determined to pass along the order information. Function as a second determination means for determining
The warning means control means turns on the rear warning means when the first determination means determines the passage of the on-information coordinates of the vehicle, and the second determination means sets the off-information of the vehicle. When the passage of coordinates is determined, the rear warning means is turned off, and the rear warning means is maintained in the first on state until being turned off after being turned on.
Computer program. The vehicle control device;
Functioning as subsequent vehicle detection means for detecting a subsequent vehicle of the vehicle,
The warning means control means turns on the rear warning means when the following vehicle detection means detects the following vehicle.
The computer program according to claim 17. The vehicle control device or the computer,
Based on the result of the collation, the vehicle functions as a third determination unit that determines that the vehicle is located within a predetermined distance behind the traveling direction of the road from the coordinates of the ON information.
The warning means control means determines that the third determination means determines that the vehicle is located within the predetermined distance behind the coordinates of the ON information, and the vehicle driver performs a braking operation of the vehicle. The rear warning means is turned on and the rear warning means is maintained in the second on state until the first on state is started.
The computer program according to claim 17 or 18. The rear warning means is a brake lamp;
The computer program according to any one of claims 17 to 19. A computer program for controlling a vehicle control device, comprising:
Brake lamp control means for controlling on / off of the brake lamp;
An intersection approach detection means for detecting that the vehicle is approaching the intersection;
A temporary stop line specifying means for specifying a temporary stop line arranged at the entrance to the detected intersection;
Forward monitoring means for monitoring the front of the vehicle;
Based on the monitoring result of the front monitor means, function as a line-of-sight determination means for determining the line-of-sight state of the detected intersection,
The brake lamp control means detects that the intersection approach detecting means detects that the host vehicle is approaching the intersection, and the temporary stop line specifying means sets a temporary stop line at the entrance to the detected intersection. And when the line of sight determining means determines that the line of sight of the detected intersection is bad, the brake lamp is turned on at the time of the first brake operation, and the detected intersection is detected at the time of the second brake operation. The brake lamp is turned off when passing, and the brake lamp is kept on until it is turned off after being turned on;
Computer program. Said computer further
Map data storage means for storing map data including information about the intersection and information about the stop line;
Function as collation means for collating the current position of the host vehicle with the map data;
The intersection approach detection means detects that the host vehicle is approaching the intersection based on the result of the verification,
The temporary stop line specifying means refers to the map data storage means when the intersection approach detecting means detects that the host vehicle is approaching the intersection, and enters the detected intersection. Identify the pause line placed in the
The computer program according to claim 21. The intersection approach detection means detects that the host vehicle is approaching the intersection by image processing the monitoring result of the front monitor means,
The temporary stop line specifying means specifies the temporary stop line arranged at the entrance to the detected intersection by performing image processing on the monitor result,
The computer program according to claim 21. Said computer further
Function as a following vehicle detection means for detecting the following vehicle,
The brake lamp control means turns on the brake lamp when the following vehicle detection means detects the following vehicle.
The computer program as described in any one of Claims 21-23.   The recording medium which records the computer program as described in any one of Claims 17-24.

Images